nicorubies Posted September 4, 2019 Share Posted September 4, 2019 In Turbo PMAC we had to scale the PID gains when writing a custom PID loop with constants such as these: #define K16 0.000015259 ; Constant of 2^-16 #define K128 0.0078125 ; Constant of 1/128 #define K23 0.000000119 ; Constant of 2^-23 ... DACOUT = FLIMIT(ITOF(Ix30)*K16 ...etc. ... Does Power PMAC require such scaling when writing custom routines? If so, what are the scale factors that we should use? I am insterested in replicating motion behaviour in Matlab/Simulink. The Matlab/Simulink section in the Power PMAC IDE manual doesn't mention any scaling of the sort but I just needed confirmation and understaning of the differences between Turbo & Power PMAC as my simulations don't match up the actual motion profiles. Thanks. Link to comment Share on other sites More sharing options...
Omron Forums Support Posted September 5, 2019 Share Posted September 5, 2019 There are no scale factors for servo gains in Power-Pmac. Link to comment Share on other sites More sharing options...
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